// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2009 Rohit Garg <rpg.314@gmail.com>
// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
//
// This Source Code Form is subject to the terms of the Mozilla
// Public License v. 2.0. If a copy of the MPL was not distributed
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.

#ifndef EIGEN_GEOMETRY_SIMD_H
#define EIGEN_GEOMETRY_SIMD_H

namespace Eigen {

namespace internal {

template<class Derived, class OtherDerived>
struct quat_product<Architecture::Target, Derived, OtherDerived, float>
{
	enum
	{
		AAlignment = traits<Derived>::Alignment,
		BAlignment = traits<OtherDerived>::Alignment,
		ResAlignment = traits<Quaternion<float>>::Alignment
	};
	static inline Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
	{
		evaluator<typename Derived::Coefficients> ae(_a.coeffs());
		evaluator<typename OtherDerived::Coefficients> be(_b.coeffs());
		Quaternion<float> res;
		const float neg_zero = numext::bit_cast<float>(0x80000000u);
		const float arr[4] = { 0.f, 0.f, 0.f, neg_zero };
		const Packet4f mask = ploadu<Packet4f>(arr);
		Packet4f a = ae.template packet<AAlignment, Packet4f>(0);
		Packet4f b = be.template packet<BAlignment, Packet4f>(0);
		Packet4f s1 = pmul(vec4f_swizzle1(a, 1, 2, 0, 2), vec4f_swizzle1(b, 2, 0, 1, 2));
		Packet4f s2 = pmul(vec4f_swizzle1(a, 3, 3, 3, 1), vec4f_swizzle1(b, 0, 1, 2, 1));
		pstoret<float, Packet4f, ResAlignment>(
			&res.x(),
			padd(psub(pmul(a, vec4f_swizzle1(b, 3, 3, 3, 3)),
					  pmul(vec4f_swizzle1(a, 2, 0, 1, 0), vec4f_swizzle1(b, 1, 2, 0, 0))),
				 pxor(mask, padd(s1, s2))));

		return res;
	}
};

template<class Derived>
struct quat_conj<Architecture::Target, Derived, float>
{
	enum
	{
		ResAlignment = traits<Quaternion<float>>::Alignment
	};
	static inline Quaternion<float> run(const QuaternionBase<Derived>& q)
	{
		evaluator<typename Derived::Coefficients> qe(q.coeffs());
		Quaternion<float> res;
		const float neg_zero = numext::bit_cast<float>(0x80000000u);
		const float arr[4] = { neg_zero, neg_zero, neg_zero, 0.f };
		const Packet4f mask = ploadu<Packet4f>(arr);
		pstoret<float, Packet4f, ResAlignment>(&res.x(),
											   pxor(mask, qe.template packet<traits<Derived>::Alignment, Packet4f>(0)));
		return res;
	}
};

template<typename VectorLhs, typename VectorRhs>
struct cross3_impl<Architecture::Target, VectorLhs, VectorRhs, float, true>
{
	enum
	{
		ResAlignment = traits<typename plain_matrix_type<VectorLhs>::type>::Alignment
	};
	static inline typename plain_matrix_type<VectorLhs>::type run(const VectorLhs& lhs, const VectorRhs& rhs)
	{
		evaluator<VectorLhs> lhs_eval(lhs);
		evaluator<VectorRhs> rhs_eval(rhs);
		Packet4f a = lhs_eval.template packet<traits<VectorLhs>::Alignment, Packet4f>(0);
		Packet4f b = rhs_eval.template packet<traits<VectorRhs>::Alignment, Packet4f>(0);
		Packet4f mul1 = pmul(vec4f_swizzle1(a, 1, 2, 0, 3), vec4f_swizzle1(b, 2, 0, 1, 3));
		Packet4f mul2 = pmul(vec4f_swizzle1(a, 2, 0, 1, 3), vec4f_swizzle1(b, 1, 2, 0, 3));
		typename plain_matrix_type<VectorLhs>::type res;
		pstoret<float, Packet4f, ResAlignment>(&res.x(), psub(mul1, mul2));
		return res;
	}
};

#if (defined EIGEN_VECTORIZE_SSE) || (EIGEN_ARCH_ARM64)

template<class Derived, class OtherDerived>
struct quat_product<Architecture::Target, Derived, OtherDerived, double>
{
	enum
	{
		BAlignment = traits<OtherDerived>::Alignment,
		ResAlignment = traits<Quaternion<double>>::Alignment
	};

	static inline Quaternion<double> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
	{
		Quaternion<double> res;

		evaluator<typename Derived::Coefficients> ae(_a.coeffs());
		evaluator<typename OtherDerived::Coefficients> be(_b.coeffs());

		const double* a = _a.coeffs().data();
		Packet2d b_xy = be.template packet<BAlignment, Packet2d>(0);
		Packet2d b_zw = be.template packet<BAlignment, Packet2d>(2);
		Packet2d a_xx = pset1<Packet2d>(a[0]);
		Packet2d a_yy = pset1<Packet2d>(a[1]);
		Packet2d a_zz = pset1<Packet2d>(a[2]);
		Packet2d a_ww = pset1<Packet2d>(a[3]);

		// two temporaries:
		Packet2d t1, t2;

		/*
		 * t1 = ww*xy + yy*zw
		 * t2 = zz*xy - xx*zw
		 * res.xy = t1 +/- swap(t2)
		 */
		t1 = padd(pmul(a_ww, b_xy), pmul(a_yy, b_zw));
		t2 = psub(pmul(a_zz, b_xy), pmul(a_xx, b_zw));
		pstoret<double, Packet2d, ResAlignment>(&res.x(), paddsub(t1, preverse(t2)));

		/*
		 * t1 = ww*zw - yy*xy
		 * t2 = zz*zw + xx*xy
		 * res.zw = t1 -/+ swap(t2) = swap( swap(t1) +/- t2)
		 */
		t1 = psub(pmul(a_ww, b_zw), pmul(a_yy, b_xy));
		t2 = padd(pmul(a_zz, b_zw), pmul(a_xx, b_xy));
		pstoret<double, Packet2d, ResAlignment>(&res.z(), preverse(paddsub(preverse(t1), t2)));

		return res;
	}
};

template<class Derived>
struct quat_conj<Architecture::Target, Derived, double>
{
	enum
	{
		ResAlignment = traits<Quaternion<double>>::Alignment
	};
	static inline Quaternion<double> run(const QuaternionBase<Derived>& q)
	{
		evaluator<typename Derived::Coefficients> qe(q.coeffs());
		Quaternion<double> res;
		const double neg_zero = numext::bit_cast<double>(0x8000000000000000ull);
		const double arr1[2] = { neg_zero, neg_zero };
		const double arr2[2] = { neg_zero, 0.0 };
		const Packet2d mask0 = ploadu<Packet2d>(arr1);
		const Packet2d mask2 = ploadu<Packet2d>(arr2);
		pstoret<double, Packet2d, ResAlignment>(
			&res.x(), pxor(mask0, qe.template packet<traits<Derived>::Alignment, Packet2d>(0)));
		pstoret<double, Packet2d, ResAlignment>(
			&res.z(), pxor(mask2, qe.template packet<traits<Derived>::Alignment, Packet2d>(2)));
		return res;
	}
};

#endif // end EIGEN_VECTORIZE_SSE_OR_EIGEN_ARCH_ARM64

} // end namespace internal

} // end namespace Eigen

#endif // EIGEN_GEOMETRY_SIMD_H
